Can one modify the Nelson-Aalen estimator to use for processes with recurrent events, i.e. when more than one identical events are possible for each subject, with known times of the events?
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It turns out that Nelson-Aalen estimator is the estimator for recurrent events. More precisely: the estimator, initially developed by Nelson for survival analysis, was adapted to recurrent events by Aalen.
My answer relies on this document.